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authorThomas Gubler <thomasgubler@gmail.com>2014-05-04 15:15:34 +0200
committerThomas Gubler <thomasgubler@gmail.com>2014-05-04 15:15:34 +0200
commitf1715869d06da2882a7b2a499caaefcaabfa9fc4 (patch)
treeb31eec305b0b47d4f83de44c51f498d1971d8125
parent55cae08cf37c2a67f1ef357f205d2ee5e3208655 (diff)
parent5f786af8fa428c8ab684251310de6c3fbe795e8f (diff)
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Merge pull request #895 from PX4/hil_arming_fix
mavlink: Only sending HIL control commands if the system is actually armed
-rw-r--r--src/modules/mavlink/mavlink_messages.cpp10
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 678ce1645..bef8a5a55 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -819,11 +819,11 @@ protected:
void send(const hrt_abstime t)
{
- bool updated = status_sub->update(t);
- updated |= pos_sp_triplet_sub->update(t);
- updated |= act_sub->update(t);
+ bool updated = act_sub->update(t);
+ (void)pos_sp_triplet_sub->update(t);
+ (void)status_sub->update(t);
- if (updated) {
+ if (updated && (status->arming_state == ARMING_STATE_ARMED)) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state;
uint8_t mavlink_base_mode;
@@ -1353,7 +1353,7 @@ protected:
uint8_t orientation = 0;
uint8_t covariance = 20;
- mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
+ mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
}
};